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@@ -1,15 +1,15 @@
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#include "modules/adc/pilot_apollo_bridge/proto/gpsimu.pb.h"
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#include "modules/adc/pilot_apollo_bridge/proto/gpsimu.pb.h"
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#include "modules/adc/pilot_apollo_bridge/proto/apolloctrlcmd.pb.h"
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#include "modules/adc/pilot_apollo_bridge/proto/apolloctrlcmd.pb.h"
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- #include "cyber/cyber.h"
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- #include "cyber/time/rate.h"
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- #include "cyber/time/time.h"
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- #include "modules/common/math/math_utils.h"
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+#include "cyber/cyber.h"
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+#include "cyber/time/rate.h"
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+#include "cyber/time/time.h"
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+#include "modules/common/math/math_utils.h"
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#include "modules/common/math/quaternion.h"
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#include "modules/common/math/quaternion.h"
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- #include "modules/common/adapters/adapter_gflags.h"
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+#include "modules/common/adapters/adapter_gflags.h"
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- #include "modules/common_msgs/localization_msgs/gps.pb.h"
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- #include "modules/common_msgs/sensor_msgs/ins.pb.h"
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+#include "modules/common_msgs/localization_msgs/gps.pb.h"
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+#include "modules/common_msgs/sensor_msgs/ins.pb.h"
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#include "modules/common_msgs/localization_msgs/imu.pb.h"
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#include "modules/common_msgs/localization_msgs/imu.pb.h"
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@@ -316,7 +316,7 @@ void ListenGPSIMU(const char * strdata,const unsigned int nSize,const unsigned i
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double flon = xgpsimu.lon();
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double flon = xgpsimu.lon();
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double flat = xgpsimu.lat();
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double flat = xgpsimu.lat();
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- double utm_x,utm_y;
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+ double utm_x,utm_y;
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int zone{};
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int zone{};
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bool is_north{};
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bool is_north{};
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GeographicLib::UTMUPS::Forward(flat, flon, zone, is_north, utm_x,utm_y);
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GeographicLib::UTMUPS::Forward(flat, flon, zone, is_north, utm_x,utm_y);
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@@ -462,6 +462,7 @@ void InitIns(){
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std::cout<<" enter talker."<<std::endl;
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std::cout<<" enter talker."<<std::endl;
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//设置初始速度为0,然后速度每秒增加5km/h
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//设置初始速度为0,然后速度每秒增加5km/h
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uint64_t speed = 0;
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uint64_t speed = 0;
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+
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while (apollo::cyber::OK()) {
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while (apollo::cyber::OK()) {
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// auto msg = std::make_shared<Car>();
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// auto msg = std::make_shared<Car>();
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// msg->set_speed(speed);
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// msg->set_speed(speed);
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